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In this paper, a novel adaptive sliding mode controller (ASMC) for the steer-by-wire (SbW) system on road vehicles is proposed. It is shown that a new frequency domain identification method is able to estimate cornering stiffness effectively in the frequency domain with sinusoidal steering inputs. An adaptive sliding mode controller can then be designed reasonably. Unlike many existing sliding mode control (SMC) schemes, the proposed ASMC not only guarantees the zero-error convergence, but also has fast adaptation and strong robustness with respect to frequent changes of road conditions based on the designed estimator. Simulation results have confirmed the advantages and effectiveness of the proposed ASMC from comparing with the traditional SMC.